m_w 15[kg] Mass of washer
m_cl 3[kg] Mass of unbalanced clothes
m_b 2[kg] Mass of balancing mass
r_cl 0.1[m] Radial position of unbalanced clothes
r_b 0.15[m] Radial position of balancing mass
xcx_w 0.3[m] CG of washer, x-coordinate
xcy_w 0.45[m] CG of washer, y-coordinate
xcz_w 0.4[m] CG of washer, z-coordinate
xcx_d 0.3[m] CG of drum, x-coordinate
xcy_d 0.2[m] CG of drum, y-coordinate
xcz_d 0.45[m] CG of drum, z-coordinate
mu 0.2 Coefficient of friction
phi0 (pi/4)[rad] Initial angular position of balancing mass
omegaC_max (pi/2)[rad/s] Maximum correction angular velocity
k_s 1e7 Stiffness of supports
c_s 1e6 Damping coefficient of supports
i_c 0 Active control state